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Neural Network Control of a Rehabilitation Robot by State and Output Feedback

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Abstract

In this paper, neural network control is presented for a rehabilitation robot with unknown system dynamics. To deal with the system uncertainties and improve the system robustness, adaptive neural networks are used to approximate the unknown model of the robot and adapt interactions between the robot and the patient. Both full state feedback control and output feedback control are considered in this paper. With the proposed control, uniform ultimate boundedness of the closed loop system is achieved in the context of Lyapunov’s stability theory and its associated techniques. The state of the system is proven to converge to a small neighborhood of zero by appropriately choosing design parameters. Extensive simulations for a rehabilitation robot with constraints are carried out to illustrate the effectiveness of the proposed control.

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Authors and Affiliations

  1. Center for Robotics and School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu, 611731, China

    Wei He

  2. Department of Electrical & Computer Engineering, National University of Singapore, Downtown Core, 117576, Singapore

    Shuzhi Sam Ge

  3. Institute for Infocomm Research, Agency for Science, Technology and Research, Downtown Core, 138632, Singapore

    Yanan Li

  4. Division of Neurology, National University Hospital, Downtown Core, 119074, Singapore

    Effie Chew

  5. Department of Rehabilitation Medicine, Singapore General Hospital, Downtown Core, 169608, Singapore

    Yee Sien Ng

Authors
  1. Wei He
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  2. Shuzhi Sam Ge
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  3. Yanan Li
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  4. Effie Chew
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  5. Yee Sien Ng
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Corresponding author

Correspondence to Wei He.

Additional information

This work was supported by the National Natural Science Foundation of China under Grant 61203057, the Fundamental Research Funds for the China Central Universities of UESTC under Grant ZYGX2013Z003, and the National Basic Research Program of China (973 Program) under Grant 2014CB744206

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He, W., Ge, S.S., Li, Y. et al. Neural Network Control of a Rehabilitation Robot by State and Output Feedback. J Intell Robot Syst 80, 15–31 (2015). https://doi.org/10.1007/s10846-014-0150-6

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  • DOI: https://doi.org/10.1007/s10846-014-0150-6

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